Homing the robot and grippers

 

 

Homing the robot

Homing the robot sends the robot to the factory-defined home position for each of the axes of motion. To home the grippers, see Homing the robot grippers.

Home the robot if you notice that the robot is not accurately picking up or placing labware. You might also want to home the robot after recovering from an emergency stop.

Note: The robot homes automatically only when you initialize the robot. If the robot is already homed, the robot will skip the homing process during initialization.

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

 

WARNING  Stay out of the system while the robot is in motion.

To home the robot:

In the Jog/Move tab, click Home robot. The robot moves its joints until it finds the home position.

 

The homing process can take up to 2 minutes. During this time, the robot:

1	Checks for the presence of labware in its grippers. If labware is present, the software presents an error message. You must first remove the labware before homing.

2	Homes the grippers.

3	Looks for the home position for each joint (waist, elbow, and wrist) and moves to the home positions.

4	Looks for the home position along the z-axis and moves to the home position.

Note: If the robot hand is at the same height as the robot base, the robot will first raise the arm to clear the base before starting the homing sequence.

After the robot is homed, the Robot homed indicator light turns on.

 

Homing the robot grippers

Homing the grippers does not home the rest of the robot.

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

 

WARNING  Stay out of the system while the robot is in motion.

To home the robot grippers:

In the Jog/Move tab, click Home grippers. The robot opens and closes its gripers until it finds the home position.

 

After the grippers are homed, the Gripper indicator light turns on.

 

 

 

Related information

 

For information about...	See...
Moving the robot into the safe zone	Moving the robot into the safe zone
Disabling and enabling the robot motor	Disabling and enabling the robot motors
Stopping the robot motors	Stopping the robot motors
Changing the robot speed	Changing the robot speed
Jogging the robot	Jogging the robot
Opening and closing the robot grippers	Opening and closing the robot grippers
Checking the robot microplate sensor	Checking the robot microplate sensor
Changing the robot display	Changing the robot display
Viewing the log area	Viewing the DDR Diagnostics log area